/*******************************************************************************
 * Copyright (C) 2013 Jeremy Brodt and Kevin Gillespie
 * Description: Speed Controller Interface
 *         $Id: speed.h 5 2013-12-18 04:48:03Z brodtj1212@gmail.com $
 *******************************************************************************
 */

#ifndef _SPEED_H_
#define _SPEED_H_

/***** Definitions *****/

/***** Global Data *****/
extern unsigned int speed_ctrl_logi[NUM_WHEELS];

/***** Function Prototypes *****/
void speed_ctrl_init(void);
void speed_ctrl_clear(unsigned int wheel, uint8_t init_value);
uint8_t speed_ctrl(unsigned int wheel, unsigned int speed, unsigned int setpoint);
void speed_log_display(void);
void speed_log_clear(void);

#endif /* _SPEED_H_ */
